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1. 发明授权

US10007280B2 Apparatus and method for controlling and regulating a multi-element system 有权
公开(公告)号：US10007280B2
公开(公告)日：2018-06-26
申请号：US14734747
申请日：2015-06-09
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： David Bitterolf , Jens Hamann , Carsten Hamm , Sven Tauchmann
IPC分类号： G05D17/02 , G05B13/04 , B25J9/16
CPC分类号： G05D17/02 , B25J9/1638 , G05B13/04 , G05B2219/39176 , G05B2219/39194 , G05B2219/39319
摘要： An apparatus for controlling and regulating a movement of a system includes a load calculating device calculating continuously during the movement of the system a respective force vector for each of the individual elements as a function of predetermined reference coordinates and a torque calculating device calculating continuously during the movement at least one compensating variable, wherein the compensating variable compensates the force vectors as a function of the reference coordinates and the force vectors. The apparatus for controlling and regulating has a control unit controlling continuously during the movement a force-producing variable for the at least one drive as a function of the reference and the at least one compensating variable.

2. 发明申请

US20150367518A1 SYSTEM FOR CONTROLLING POSITION POSE OF ROBOT USING CONTROL OF CENTER OF MASS 审中-公开
标题翻译：使用大众中心控制的机器人的位置控制系统
公开(公告)号：US20150367518A1
公开(公告)日：2015-12-24
申请号：US14735519
申请日：2015-06-10
申请人： Korea Institute of Science and Technology
发明人： Yonghwan OH , Dong-hyun LEE
IPC分类号： B25J19/00 , B25J9/16
CPC分类号： B25J9/1674 , B25J9/1692 , G05B2219/39194 , Y10S901/02
摘要： A control system of a robot keeps an entire posture of a robot not fixed to the ground. The robot includes a body having a plurality of joints and motors mounted to a plurality of limbs and the joints, and the entire posture is maintained by controlling a center of mass (COM) of the robot. The limbs include a robot arm with an end-effector. When a target position of the end-effector (hereinafter, a “target end-effector position”) is input, a target position of the center of mass (hereinafter, a “target COM position”) is calculated using the target end-effector position. The motors mounted to the joints are operated so that the end-effector and the center of mass of the robot move according to the target end-effector position and the target COM position. The target COM position varies in proportion to the change of the target end-effector position.
摘要翻译：机器人的控制系统保持机器人的整个姿势不固定在地面上。机器人包括具有多个关节和安装到多个肢体和关节的马达的主体，并且通过控制机器人的质心（COM）来维持整个姿势。肢体包括具有末端执行器的机器人手臂。当输入末端执行器（以下称为“目标末端执行器位置”）的目标位置时，使用目标末端执行器来计算质量中心的目标位置（以下称为“目标COM位置”））位置。操作安装在接头上的电动机，使得机器人的末端执行器和质心按照目标末端执行器位置和目标COM位置移动。目标COM位置与目标末端执行器位置的变化成比例地变化。

3. 发明申请

US20080140257A1 ROBOT CONTROL APPARATUS FOR FORCE CONTROL 审中-公开
标题翻译：机器人控制装置
公开(公告)号：US20080140257A1
公开(公告)日：2008-06-12
申请号：US11951457
申请日：2007-12-06
申请人： Takashi SATO , Takahiro IWATAKE
发明人： Takashi SATO , Takahiro IWATAKE
IPC分类号： B25J13/08 , B25J19/02
CPC分类号： B25J9/1638 , B25J9/1633 , G05B2219/39178 , G05B2219/39194 , G05B2219/39319 , G05B2219/39341 , G05B2219/39343
摘要： A robot control apparatus for controlling force exerted between a working tool mounted at the forward end of a robot arm and a workpiece is disclosed. The apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value. As a result, the workpiece can be accurately machined even in the case where the forward end portion of the robot arm is changed a comparatively great degree in the direction of movement thereof.
摘要翻译：公开了一种用于控制施加在安装在机器人臂的前端的工作工具与工件之间的力的机器人控制装置。该装置包括用于获取控制操作所需的力数据的力测量单元，用于计算由重力施加在力测量单元上的力和由机器人手臂的运动产生的动态项的计算单元，所有力施加在力测量单元上的补偿单元，补偿单元，用于补偿由力测量单元使用由重力施加的力所测量的力和由计算单元计算的动态项;以及指令调整单元，用于调整操作指令在每个动态项大于预定阈值的情况下，根据通过动态项和重力来施加在力测量单元上的力的机器人手臂。结果，即使在机器人手臂的前端部在其移动方向上相对较大程度地变化的情况下，也能够精确地加工工件。

4. 发明授权

US06694214B2 Method and apparatus for weight compensation in guiding a movement of a moveable machine element 有权
标题翻译：用于引导可移动机器元件的运动的重量补偿的方法和装置
公开(公告)号：US06694214B2
公开(公告)日：2004-02-17
申请号：US10218435
申请日：2002-08-14
申请人： Thomas Puchtler
发明人： Thomas Puchtler
IPC分类号： G06F1900
CPC分类号： G05B19/404 , G05B2219/39194 , G05B2219/41114 , G05B2219/41209
摘要： For a number of different operating points in a workspace of a processing machine, the total length changes caused by a weight force are determined and entered together with the corresponding set points in a compensation table. The compensation values are used to compute control variables for set points. Values for intermediate points are interpolated from the values stored in the compensation table. This eliminates positioning errors at both the predetermined operating points and the intermediate points. Advantageously, the changes in the length can be determined from the motor force that counteracts the force acting on the corresponding actuator in a static state, based on an instantaneous nominal current value and/or actual current value of the motor.
摘要翻译：对于加工机器的工作空间中的多个不同的操作点，由重量力引起的总长度变化被确定并与补偿表中的对应设定点一起输入。补偿值用于计算设定点的控制变量。中间点的值根据存储在补偿表中的值进行内插。这消除了在预定操作点和中间点处的定位误差。有利的是，可以根据马达的瞬时额定电流值和/或电动机的实际电流值，根据抵抗作用在静止状态下的对应致动器的力的电机力来确定长度的变化。

5. 发明授权

US4283764A Manually programmable robot with power-assisted motion during programming 失效
标题翻译：手动编程机器人在编程过程中具有动力辅助运动
公开(公告)号：US4283764A
公开(公告)日：1981-08-11
申请号：US84359
申请日：1979-10-12
申请人： Gerald W. Crum , Brian M. Rooney
发明人： Gerald W. Crum , Brian M. Rooney
IPC分类号： B25J9/16 , B05B13/04 , B25J9/00 , B25J9/18 , B25J13/08 , G05B19/427 , G05B19/42 , G06F15/46
CPC分类号： B25J9/0081 , B05B13/0431 , B25J13/081 , G05B19/427 , G05B2219/36429 , G05B2219/37388 , G05B2219/39178 , G05B2219/39194
摘要： A robot is disclosed having a plurality of movable links interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other links, namely those constituting the wrist, are relatively lightweight which permits movement thereof without power assistance during manual programming. A force transducer is connected in series with the output element of the robot in association with one of the massive links located between the wrist and the stationary base on which the robot is mounted. The transducer senses forces during programming applied to the massive links via the wrist when manual programming forces are applied to the robot output. The force transducer provides an output signal for each of the massive links correlated to the component of the manual programming force transmitted thereto via the wrist. During programming, the force transducer output signals are applied to the actuators of their respectively associated massive links to move the massive links in power-assisted fashion, while the lightweight links of the wrist move in unpowered fashion in response to the manual force applied thereto during programming. The power-assisted motion provided to the massive links by their respectively associated actuators, coupled with the unpowered motion of the lightweight links constituting the wrist, collectively produce motion of the robot output element in the direction to which the manual force is applied thereto during manual programming.
摘要翻译：公开了一种机器人，其具有串联地端对端互连的多个可动链节。与每个相关联的是致动器和位置传感器。一些连杆是相对巨大的，并且当机器人被手动编程时不能容易地移动，而其他链接（即构成手腕的那些）相对轻便，在手动编程期间没有电力援助就允许其移动。与机械手的输出元件串联连接的力传感器与位于手腕与安装有机器人的固定基座之间的大块连接体之一相连。当手动编程力施加到机器人输出时，换能器通过手腕感应在施加到海量链节的编程期间的力。力传感器为与通过手腕传递到其的手动编程力的分量相关联的每个海量链节提供输出信号。在编程期间，力传感器输出信号被施加到它们分别相关联的巨大链节的致动器，以动力辅助方式移动大量连杆，同时手腕的轻量级链节响应于施加到其上的手动力而以无动力的方式移动编程。通过它们分别相关联的致动器提供的大量链路的动力辅助运动以及构成腕部的轻型链节的无动力运动在手动期间一起产生机械手输出元件在其上施加手动力的方向上的运动编程。

6. 发明授权

US09434073B2 Robot apparatus and control method therefor 有权
标题翻译：机器人装置及其控制方法
公开(公告)号：US09434073B2
公开(公告)日：2016-09-06
申请号：US14418416
申请日：2013-08-01
申请人： Toshiba Kikai Kabushiki Kaisha
发明人： Yuta Matsumoto , Yasunori Nishihara , Jun Fujita
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J9/1633 , B25J9/1641 , G05B2219/39181 , G05B2219/39187 , G05B2219/39194
摘要： A robot apparatus (1) includes a control apparatus (3) which carries out correction with use of an estimated value of a joint torque estimation unit (53) which estimates a joint torque acting upon each of joints (20 to 25). The joint torque estimation unit (53) includes a Coulomb frictional force torque estimation unit (70), a viscous frictional torque estimation unit (71), and a transition interval arithmetic operation unit (72) which smoothens transition from the Coulomb frictional force torque estimation unit (70) to the viscous frictional force estimation unit (71) and transition from the viscous frictional force torque estimation unit (71) to the Coulomb frictional force torque estimation unit (70).
摘要翻译：机器人装置（1）包括控制装置（3），该控制装置使用估计作用于各接头（20〜25）的接合转矩的关节转矩估计单元（53）的估计值进行校正。关节转矩估计单元（53）包括库仑摩擦力转矩估计单元（70），粘性摩擦转矩估计单元（71）和平滑从库仑摩擦力转矩估计过渡的过渡区间运算单元（72）单元（70）到粘性摩擦力估计单元（71），并且从粘性摩擦力转矩估计单元（71）转移到库仑摩擦力转矩估计单元（70）。

7. 发明申请

US20140371762A1 Methods, Systems, and Devices Relating to Force Control Surgical Systems 有权
标题翻译：与力控制手术系统有关的方法，系统和设备
公开(公告)号：US20140371762A1
公开(公告)日：2014-12-18
申请号：US14210934
申请日：2014-03-14
申请人： Board of Regents of the University of Nebraska
发明人： Shane Farritor , Thomas Frederick , Kearney Lackas , Joe Bartels , Jacob Greenburg
IPC分类号： A61B19/00 , B25J9/16
CPC分类号： A61B34/30 , A61B34/76 , A61B2090/064 , B25J9/1602 , B25J9/1633 , G05B2219/36432 , G05B2219/39181 , G05B2219/39194 , G05B2219/39321 , G05B2219/40619 , G05B2219/45117 , Y10S901/27 , Y10S901/46
摘要： The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user.
摘要翻译：本文的各种实施例涉及使用力和/或扭矩传感器来测量施加在系统或装置的各种部件上的力的机器人手术系统和装置。某些实施方案包括具有一个或多个力/扭矩传感器的机器人手术装置，其检测或测量在一个或多个臂上或其上施加的一个或多个力。其它实施例涉及具有一个或多个传感器的机器人手术装置和具有一个或多个电动机的外部控制器的系统，使得传感器传送在控制器处使用的信息以致动马达以向用户提供触觉反馈。

8. 发明申请

US20140025205A1 CONTROL SYSTEM, PROGRAM, AND METHOD OF CONTROLLING MECHANICAL EQUIPMENT 有权
标题翻译：控制系统，程序和控制机械设备的方法
公开(公告)号：US20140025205A1
公开(公告)日：2014-01-23
申请号：US13938350
申请日：2013-07-10
申请人： Seiko Epson Corporation
发明人： Mitsuhiro Inazumi
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1694 , G05B2219/39194 , G05B2219/39343 , G05B2219/40586 , Y10S901/46
摘要： A control system includes a force sensor that has a mechanical mechanism (e.g., an end effector) and N (N is an integer equal to or more than two) triaxial force sensor units, acquires unit output values to which values resulting from the mechanical mechanism have been added from the respective triaxial force sensor units of the N triaxial force sensor units, and outputs force sense values based on the unit output values, a force sense value corrector that corrects the force sense values based on the force sense values output by the force sensor, and a controller that performs control of mechanical equipment (e.g., a robot) including the mechanical mechanism based on the force sense values corrected in the force sense value corrector.
摘要翻译：控制系统包括具有机械机构（例如，末端执行器）和N（N是等于或大于2的整数）三轴力传感器单元的力传感器，获得由机械机构产生的值的单位输出值已经从N个三轴力传感器单元的相应的三轴力传感器单元中添加，并且基于单位输出值输出力感测值，力感测值校正器，其基于由所述单元输出值输出的力感测值来校正力感测值力传感器，以及基于在力感测值校正器中校正的力感测值，执行包括机械机构的机械设备（例如，机器人）的控制的控制器。

9. 发明申请

US20100141197A1 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US20100141197A1
公开(公告)日：2010-06-10
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm. Thereby, a user can easily move the robot arm and thus safely escape from the robot arm, and it is possible to prevent the falling of the robot arm due to gravity and thus to protect devices of the robot arm and peripheral environment around the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。由此，使用者能够容易地移动机器人手臂，从而可以安全地从机器人臂逃逸，并且能够防止机器人臂因重力而坠落，从而保护机器人手臂的装置和机器人臂周围的环境。

10. 发明授权

US06943519B2 Method and device for weight compensation in a mechanism with closed kinematic chains 失效
标题翻译：具有闭合运动链的机构中用于重量补偿的方法和装置
公开(公告)号：US06943519B2
公开(公告)日：2005-09-13
申请号：US10257342
申请日：2001-04-06
申请人： Thomas Puchtler , Dirk Staimer
发明人： Thomas Puchtler , Dirk Staimer
IPC分类号： B25J9/16 , G05B19/10
CPC分类号： B25J9/1623 , B25J9/1638 , G05B2219/39176 , G05B2219/39183 , G05B2219/39194 , G05B2219/39224 , G05B2219/40267 , G05B2219/40281 , Y10T403/28
摘要： The aim of the invention is to compensate for the position-dependent length changes caused by the effect of weight in a variety of closed kinematic chains (K1 . . . Kn), for connecting a stationary first element (E1) to a movable second element (E2). Said aim is achieved, by using a back transformation (Λ−1), which determines a compensation value for each length change (dq1, dq2 . . . dqn), resulting from the application of the weight (Fg) impinging on the movable element (E2) in each kinematic chain.
摘要翻译：本发明的目的是补偿由各种闭合运动链（K 1 ... Kn）中的重量的影响引起的位置相关长度变化，用于将固定的第一元件（E 1）连接到可移动的第二元件（E 2）。所述目的是通过使用反向变换（Lambda-SUPER）来实现的，所述逆变换确定了对于每个长度变化（dq 1，dq 2 ... dqn）的补偿值，重量（Fg）撞击每个运动链中的可移动元件（E 2）。

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